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Backstepping Control of a Fully-actuated Surface Vessel for Tracking a Docking Maneuver

  • The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper by designing a backstepping controller with a multivariable integral action, considering the thruster allocation problem. The performance and robustness of this controller are evaluated in simulation, taking into account environmental disturbance forces and modeling mismatch, using a docking maneuver as a reference trajectory. Furthermore, a comparison between the backstepping controller and a nonlinear position PID-Control with flatness based-feedforward is also analyzed.

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Author:Leticia Mayumi Kinjo, Tomas Menard, Stefan WirtensohnORCiD, Olivier Gehan, Johannes ReuterORCiD
Parent Title (English):10th International Conference on Systems and Control (ICSC 2022), 23-25 November 2022, Marseille, France
Document Type:Conference Proceeding
Year of Publication:2022
Release Date:2023/01/11
Tag:Fully-actuated autonomous surface vessels; Trajectory tracking; Backstepping control
First Page:502
Last Page:507
Volltext im Campusnetz der Hochschule Konstanz abrufbar.
Institutes:Institut für Systemdynamik - ISD
Relevance:Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband)
Open Access?:Nein
Licence (German):License LogoUrheberrechtlich geschützt